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package edu.wpi.first.wpilibj.templates.commands;

/**
 *
 * @author matt
 */
public class Swerve extends CommandBase {

    public static class SwerveState {

        public final int value;
        // Drive Mode enumeration constants
        protected static final int m_kSwerveDeployed = 0;
        protected static final int m_kSwerveRetracted = 1;
        public static final SwerveState kSwerveDeployed = new SwerveState(m_kSwerveDeployed);
        public static final SwerveState kSwerveRetracted = new SwerveState(m_kSwerveRetracted);

        private SwerveState(int swerveState) {
            this.value = swerveState;
        }
    }
    private SwerveState commandSwerveState;

    public Swerve(SwerveState swerveState) {
        requires(swerveSubsystem);  

        commandSwerveState = swerveState;
    }

    // Called just before this Command runs the first time
    protected void initialize() {
    }

    // Called repeatedly when this Command is scheduled to run
    protected void execute() {
        if (SwerveState.kSwerveDeployed == commandSwerveState) {
            swerveSubsystem.lowerSwerve();
        } else {
            swerveSubsystem.raiseSwerve();
        }
    }

    // Make this return true when this Command no longer needs to run execute()
    protected boolean isFinished() {
        return false;
    }

    // Called once after isFinished returns true
    protected void end() {
    }

    // Called when another command which requires one or more of the same
    // subsystems is scheduled to run
    protected void interrupted() {
    }
}
